Skip to content

Adaptive ICL control #3

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
ChengChengYang0416 wants to merge 73 commits into
base: master
Choose a base branch
from
Open

Adaptive ICL control #3

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
73 commits
Select commit Hold shift + click to select a range
045b300
define feedforward usage
ChengChengYang0416 Oct 16, 2020
fca99b1
multirotor_geometry: add adaptive control term for mass and moment of…
ChengChengYang0416 Oct 16, 2020
334bb4a
multirotor_geometry: rearrange feedforward term into functions
ChengChengYang0416 Oct 19, 2020
816ec24
rename FEEDFORWARD_USE_ICL to FEEDFORWARD_USE_ADAPTIVE_ICL and add SE…
ChengChengYang0416 Oct 19, 2020
0c182ed
multirotor_geometry: rename ICL function name to adaptive ICL
ChengChengYang0416 Oct 20, 2020
e548c85
reduce the dimension of k_m_cl_gain to scalar
ChengChengYang0416 Oct 20, 2020
880cb49
multirotor_geometry: add adaptive ICL control for mass estimation
ChengChengYang0416 Oct 21, 2020
42748cd
multirotor_geometry: add the miss elements of theta_diag_hat
ChengChengYang0416 Oct 21, 2020
658291f
multirotor_geometry: add adaptive ICL control for moment of inertia e…
ChengChengYang0416 Oct 21, 2020
ce26109
correct integral of control input used ICL
ChengChengYang0416 Oct 22, 2020
9d6b0ed
multirotor_geometric: correct y_diag_cl_integral
ChengChengYang0416 Oct 26, 2020
5b9e35b
add send_debug_adaptive_ICL
ChengChengYang0416 Oct 26, 2020
a0c05c3
multirotor_geometry: separate theta_hat_dot into adaptive part and IC…
ChengChengYang0416 Oct 26, 2020
9f75bbd
format with AStyle
ChengChengYang0416 Oct 26, 2020
0d15797
add MESSAGE_ID used for adaptive-ICL-control
ChengChengYang0416 Oct 26, 2020
fad458d
add functions used to send debug messages for ICL
ChengChengYang0416 Oct 26, 2020
fccde84
add selection for sending debug messages for ICL
ChengChengYang0416 Oct 28, 2020
1726524
multirotor_geometry: rearrange functions and add options of adaptive …
ChengChengYang0416 Nov 2, 2020
74bbd76
comment out gains used in adaptive ICL control
ChengChengYang0416 Nov 5, 2020
6a177f4
bound feedforward control term
ChengChengYang0416 Nov 5, 2020
a5de6e1
multirotor_geometry: fix typos
ChengChengYang0416 Nov 5, 2020
85965d8
multirotor_geometry: correct feedforward term of moment control of ad…
ChengChengYang0416 Nov 6, 2020
cacb4ce
fix usage of super() function in Python2.7
ChengChengYang0416 Nov 6, 2020
eec991e
rewrite send debug function of ICL control to concise form
ChengChengYang0416 Nov 9, 2020
683f6ae
add plotter for adaptive ICL control
ChengChengYang0416 Nov 9, 2020
b19db32
separate feedforward selection to manual control and tracking control
ChengChengYang0416 Nov 9, 2020
90e954c
modify boundary of force feedforward control in z direction
ChengChengYang0416 Nov 9, 2020
ec435d8
multirotor_geometry: correct y_m_clt_integral in adaptive ICL control
ChengChengYang0416 Nov 9, 2020
bbf7646
multirotor_geometry: test for regression matrix for adaptive ICL control
ChengChengYang0416 Nov 9, 2020
c73f148
comment out function for sending debug message
ChengChengYang0416 Nov 9, 2020
2cfcbfe
multirotor_geometry: finish testing regression matrix
ChengChengYang0416 Nov 9, 2020
b828e12
separate selection of feedforwad control to force part and moment part
ChengChengYang0416 Nov 10, 2020
75d26bb
multirotor_geometry: increase the boundary of moment feedforward control
ChengChengYang0416 Nov 11, 2020
48a7ee5
multirotor_geometry: modify boundary of feedforward control and initi…
ChengChengYang0416 Nov 12, 2020
b7be779
modify ylabel of mass and moment of inertia estimation
ChengChengYang0416 Nov 12, 2020
4e437e1
multirotor_geometry: modify the initial value of mass estimation
ChengChengYang0416 Nov 12, 2020
9782f11
increase the boundary of ylim()
ChengChengYang0416 Nov 12, 2020
189d85b
multirotor_geometry: change the direction of z-axis in adaptive force…
ChengChengYang0416 Nov 16, 2020
7a169b5
send mass estimation debug message by default
ChengChengYang0416 Nov 16, 2020
c2642a6
modify label name
ChengChengYang0416 Nov 25, 2020
0808910
multirotor_geometry: initialize value of moment of inertia estimation
ChengChengYang0416 Nov 26, 2020
93714e0
correct the sign of feedforward moment control input
ChengChengYang0416 Dec 2, 2020
23d6bd5
Merge remote-tracking branch 'shengwen/master' into adaptive-ICL-control
ChengChengYang0416 Dec 7, 2020
427b616
Merge remote-tracking branch 'shengwen/master' into adaptive-ICL-control
ChengChengYang0416 Dec 11, 2020
2dfff15
Merge remote-tracking branch 'shengwen/master' into adaptive-ICL-control
ChengChengYang0416 Jan 20, 2021
1118527
fix conflicts during merging
ChengChengYang0416 Feb 17, 2021
063afe0
add function for sending debug messages for mass and inertia estimation
ChengChengYang0416 Feb 17, 2021
7393984
add the condition for plotting the mass and inertia estimation
ChengChengYang0416 Feb 17, 2021
0336652
merge branch 'master' of https://github.com/Networked-Control-Robotic…
ChengChengYang0416 Mar 18, 2021
241837c
multirotor_geometry: correct the sign of the feedforward moment contr…
ChengChengYang0416 Mar 25, 2021
91414a7
merge branch 'master' of https://github.com/Networked-Control-Robotic…
ChengChengYang0416 Mar 29, 2021
eeaa8ae
merge branch 'master' of https://github.com/Networked-Control-Robotic…
ChengChengYang0416 Mar 30, 2021
3d0322e
fix conflicts during merging
ChengChengYang0416 Apr 9, 2021
984c4b6
merge branch 'master' of https://github.com/Networked-Control-Robotic…
ChengChengYang0416 Apr 12, 2021
3093ba7
add time tick in adaptive ICL debug messages
ChengChengYang0416 Apr 12, 2021
6ed7d18
use get_sys_time_ms() to get the system time tick
ChengChengYang0416 Apr 12, 2021
4132286
tune gains used in adaptive ICL control
ChengChengYang0416 Apr 13, 2021
e514022
tune gamma_diag_gain to make moment of inertia converge faster
ChengChengYang0416 Apr 15, 2021
68ffeb6
plot z and zd in mass debug messages
ChengChengYang0416 Apr 19, 2021
a514c70
correct the direction of updating the estimation of the mass
ChengChengYang0416 Apr 19, 2021
a27a914
use index 0 of theta_m_hat instead of 1 and 2, and correct the direct…
ChengChengYang0416 Apr 23, 2021
85debaf
use send_adaptive_ICL_mass_inertia_estimation_debug() as default
ChengChengYang0416 Apr 23, 2021
2776d74
add debug message for moment control input in adaptive ICL control
ChengChengYang0416 Apr 25, 2021
1668d74
multiply y, z gain in saving the y, z moment control input in adaptiv…
ChengChengYang0416 Apr 25, 2021
2054333
assign moment feedforward control input for sending moment ctrl debug…
ChengChengYang0416 Apr 26, 2021
ee1fa3a
decrease COEFFICIENT_YAW from 1.0f to 0.01f
ChengChengYang0416 Apr 26, 2021
22c63a2
fix conflicts during merging
ChengChengYang0416 Apr 27, 2021
f6e71a3
use variable inertia_effect to replace moment_ff in output_moment cac…
ChengChengYang0416 May 3, 2021
8ee1590
send feedback term of moment control input in manual control flight mode
ChengChengYang0416 May 3, 2021
0d81412
set yaw coefficient to default value
ChengChengYang0416 May 14, 2021
5b3e64d
save csv file as default while using debug link
ChengChengYang0416 May 14, 2021
55e8b39
fix confilcts during merging
ChengChengYang0416 May 14, 2021
1ac2354
tune ICL gain for mass estimation
ChengChengYang0416 Jun 29, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions src/Makefile
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,7 @@ SRC+=./core/main.c \
./core/controllers/multirotor_pid/multirotor_pid_param.c \
./core/controllers/multirotor_geometry/multirotor_geometry_ctrl.c \
./core/controllers/multirotor_geometry/multirotor_geometry_param.c \
./core/controllers/multirotor_geometry/send_debug_adaptive_ICL.c \
./core/controllers/actuator/motor_thrust_fitting.c \
./core/controllers/autopilot.c \
./core/tasks/flight_ctrl_task.c \
Expand Down
Loading